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Research On The Key Technologies Of Massage Robot

Posted on:2016-03-31Degree:DoctorType:Dissertation
Country:ChinaCandidate:L HuFull Text:PDF
GTID:1318330542974128Subject:Mechanical and electrical engineering
Abstract/Summary:PDF Full Text Request
This paper is funded by National High-tech R&D Program: The research of massage robot platform works for elderly people'slumbago-leg pain and the Massage Robot Aims at the key technologies.This paper studies the biomechanics of the soft tissues,the system of the massage robot and the design of control system,mechanical configuration,safety strategy,application experiments.Massaging is an efficient way to cure the lumbago-leg pain chronic disease.The result depends on how much experience the massagists have,their physical strength and many other factors.So the massage robots are widely concerned by many scholars focuing on the standardization,high efficiency and safety.Because there are too many massage manipulations,the problem is that the key issues of the massage robots still exit on the topic of standard pressure,the safety and the normalization of the massaging procedure.There are no massage robots available clinically.The feature of the soft tissues in the massaging region is a key consideration factor of how to control the robot.Based on the online tested data of soft tissue stress and the strain,the physical model and the constitutive equations are studied.First,depending on the anatomical structure of the waist tissues,the soft tissue physical model is created.In order to sample the soft tissue's physical features,the on-line sampling platform is created.By analyzing the data and the model of mass elastic model,the time-varying stiffness model is created.By using the least square method,this paper proposes the rapid on-line large-deformation-soft-tissue-modeling method to provide the theory basis of force/position control.The robot architecture may have impact on the real-time reaction capability and the independent-decision making capability,as a result,it is a key issue for the function and curative effect.This paper let the robot,patient and massaging circumstance be a whole human-interface environment and the robot is a part of it.By using the hierarchical task analysis and the human behavior decision models,the subsystems' functions and how they cooperate with each other are made clear.Linked by the information from sensors and human-interface procedure,the man-machine symbiosis robot architecture is studied.This paper provides the mainframe work for multitask and multi-circumstance and the control system.The configuration of the robot is the key factor for simulating the massagists' manipulation.The robot is divided into positioning module,massaging module and dexterous hand module.This is for satisfying the function requirement and based on the research of massaging motion features.This paper propose a series of parallel spherical wrist structure based on the requirements of wrist flexibility and stiffness.Massaging module and dexterous hand module is positioned to the working area by the positioning module.The massaging module realizes the roll,shake,thumb root kneading therapy depending on the spherical wrist structure.The robotic safety is the first attribute of the robot.The malfunction is studied using the fault tree by analyzing the massage task and circumstance.By configuring the reasonable fault points and the fault-tolerant control safety strategy,the safety fault monitoring based safety smart mechanism is studied.The part of work makes the robot operates safely and provides a method for designing the man-robot-sharing robot society.In the end,based on the system,simulations and experiments are conducted,including the precision of the massaging pressure experiments,the precision of following position experiments,assessment of curative effect and clinical experiments.The result indicates that the massage robot satisfies the clinical requirements and further proves the effectiveness and the feasibility of the research achievement.
Keywords/Search Tags:massage, robot, deformation model, robot safety, robot mechanical configuration
PDF Full Text Request
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